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Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

© IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 2003, vol. 1, p. 989-994

IEEE

Autor: García Campos, Rafael
Cufí i Solé, Xavier
Carreras Pérez, Marc
Ridao Rodríguez, Pere
Data: 2003
Resum: This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented
Format: application/pdf
Cita: Garcia, R., Cufi, X., Carreras, M., i Ridao, P. (2003). Correction of shading effects in vision-based UUV localization. IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 1, 989-994. Recuperat 20 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1241721
ISBN: 0-7803-7736-2
ISSN: 1050-4729
Accés al document: http://hdl.handle.net/10256/2342
Llenguatge: eng
Editor: IEEE
Col·lecció: Articles publicats (D-ATC)
És part de: © IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 2003, vol. 1, p. 989-994
Drets: Tots els drets reservats
Matèria: Vehicles submergibles
Imatges -- Processament
Image processing
Submersibles
Títol: Correction of shading effects in vision-based UUV localization
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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